The paper describes a problem and an algorithm for simultaneous localization and mapping (SLAM) for an unmanned aerial vehicle (UAV). The algorithm developed by the authors estimates the flight trajectory and builds a map of the terrain below the UAV. As a tool for estimating the UAV position and other parameters of flight, a particle filter was applied. The proposed algorithm was tested and analyzed by simulations and the paper presents a simulator developed by the authors and used for SLAM testing purposes. Chosen simulation results, including maps and UAV trajectories constructed by the SLAM algorithm are included in the paper.
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